Redundant ethernet network and sensor processing system for vehicles and related methods

ABSTRACT

Reliability and responsiveness in vehicles are becoming more important as semi-automation and automation are becoming more prevalent. A redundant Ethernet network system is provided within a vehicle and includes a first node connected to a first sensor and a second node connected to a second sensor. A first Ethernet cable is connected between the first node and the second node, a second Ethernet cable is connected between the first node and an electronic control unit (ECU), and a third Ethernet cable connected between the second node and the ECU. Data from the first sensor and the second sensor is transmitted across the Ethernet network to reach the ECU. Data from these sensors is also compared and processed locally at the first node and the second node to improve reliability and to reduce processing load on the ECU.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application claims priority to U.S. Patent Application No.62/912,203 filed on Oct. 8, 2019 and titled “Redundant Ethernet NetworkAnd Sensor Processing System For Vehicles And Related Methods”, and toCanadian Patent Application No. 3,057,937 filed on Oct. 8, 2019 andtitled “Redundant Ethernet Network And Sensor Processing System ForVehicles And Related Methods”, the entire contents of which are hereinincorporated by reference.

TECHNICAL FIELD

The following generally relates to a redundant Ethernet network andsensor processing system for vehicles and related methods.

DESCRIPTION OF THE RELATED ART

Vehicles, such as cars, are becoming more digital in the collection ofdata and the control of the vehicle. This leads to semi-autonomous orfully autonomous vehicles, including, but not limited to, AdvancedDriver Assistance Systems (ADAS) as well as self-driving cars. Vehiclesare beginning to include more sensors, such as cameras, radar, sonar andlidar. The collected data is transmitted via an Ethernet wire to aprocessor that is on board the vehicle, and then is used to initiate anaction (e.g. control a motor, control an actuator, provide an audio orvisual alert, etc.). The speed of transmitting and reliability of thisprocess helps the vehicle become more responsive and safer. Disruptionin the transmission of data, or in the processing of the data, wouldhinder the vehicle's responsiveness and decrease the vehicle's safety.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will now be described by way of example only with referenceto the appended drawings wherein:

FIG. 1 is a schematic diagram of a car that includes sensors thatconnected to a built-in redundant Ethernet network and sensor processing(RENASP) system, according to an example embodiment.

FIG. 2 is a schematic diagram of the RENASP system from FIG. 1, butshown in isolation, according to an example embodiment.

FIG. 3 is a schematic diagram of an alternative architecture of a RENASPsystem, shown in isolation, according to an example embodiment.

FIG. 4 is a flow diagram of processor executable instructions fortransmitting and processing sensor data in the RENASP system, accordingto an example embodiment.

FIGS. 5a and 5b are flow diagrams of processor executable instructionsfor an Electronic Control Unit (ECU) to process the data sensor data,according to an example embodiment.

FIG. 6 is a schematic diagram of the RENASP system shown in FIG. 2, andfurther showing the flow of data, according to an example embodiment.

FIG. 7 is a schematic diagram of the RENASP system shown in FIG. 2, andfurther showing the flow of data during a failure of data transmissionacross a first Ethernet cable, according to an example embodiment.

FIG. 8 is a schematic diagram of the RENASP system shown in FIG. 2, andfurther showing the flow of data during a failure of data transmissionacross a second Ethernet cable, according to an example embodiment.

FIG. 9 is a schematic diagram of the RENASP system shown in FIG. 2, andfurther showing the flow of data during a failure of data transmissionacross a third Ethernet cable, according to an example embodiment.

FIG. 10 is a schematic diagram of the RENASP system shown in FIG. 2,after further showing the flow of data during a failure or damage to oneof the nodes, according to an example embodiment.

FIG. 11 is a schematic diagram of a RENASP system that includes multiplerings of sensor nodes in data communication with an ECU node.

DETAILED DESCRIPTION

It will be appreciated that for simplicity and clarity of illustration,where considered appropriate, reference numerals may be repeated amongthe figures to indicate corresponding or analogous elements. Inaddition, numerous specific details are set forth in order to provide athorough understanding of the example embodiments described herein.However, it will be understood by those of ordinary skill in the artthat the example embodiments described herein may be practiced withoutthese specific details. In other instances, well-known methods,procedures and components have not been described in detail so as not toobscure the example embodiments described herein. Also, the descriptionis not to be considered as limiting the scope of the example embodimentsdescribed herein.

Vehicles, including, but not limited to cars, are equipped with one ormore central processor units (CPUs) that control the operations of thevehicle. In some other example, there are multiple subsystems of a car,and each subsystem has at least one processor, also called an ElectronicControl Unit (ECU). For example, there is an ECU for engine controlsubsystem; there is another ECU for a powertrain control subsystem;there is another ECU for a brake control subsystem; there is another ECUfor a suspension control subsystem; there is another ECU for an electricpower steering control subsystem; and so forth. In each subsystem, theremay be multiple sensors and multiple processes to be executed by thecorresponding dedicated ECU. In an alternative example embodiment, thereis one central ECU that controls all the subsystems. It is hereinrecognized that as more sensors are integrated into a given subsystem,and that as the computations become more complex, the processing on thecorresponding dedicated ECU becomes more resource intensive. Inparticular, more processing power, more memory resources, and fasterdata connection speeds are required.

Furthermore, it is herein recognized that the reliability of thesesubsystems are often critical to the functionality of the vehicle andthe safety of the vehicle. For example, if sensor data or processeddata, or both, is lost in the vehicle's data network (e.g. due to adamaged data cable, a loose data cable connection, a damaged data node,etc.), then the vehicle's functionality and safety could be compromised.

For example, a car includes a radar or a camera, or both, and thesesensors capture data regarding an object that is in close proximity tothe car. For example, the object is a pedestrian or another car. Thisdata is to be transmitted from a sensor node to an ECU via an Ethernetcable. However, if the Ethernet cable is damaged, or an Ethernetconnection is loosened or damaged, or if processing is delayed due tooverload or processing requests at the ECU, then the sensor data cannotbe processed quickly enough for the car to react to the object. Inparticular, the sensor data needs to be processed quickly enough so thatthe car's ADAS can adjust the car's steering or apply braking, or both.Failure or compromise to process the data within the required time limitcould lead to the car hitting the object and causing an accident.

Therefore, a redundant Ethernet network and sensor processing (RENASP)system is herein provided. In an example aspect, the RENASP systemprovides redundancy in data transmission. In another example aspect, theRENASP system provides redundancy in processing sensor data. In anotherexample aspect, the RENASP system reduces the processing load on an ECU.In another example aspect, if a breakage or failure occurs at a node orin the network connect, the RENASP system continues to transmits data tothe destination node with zero packet data loss. In another exampleaspect, if a breakage or failure occurs at a node or in the networkconnect, the RENASP system continues to transmits data to thedestination node without any delay (e.g. zero second delay).

Turning to FIG. 1, a car 101 is shown that is equipped with sensors. Forexample, a camera 104 and a radar 105 are located on left side of thecar, and another camera 103 and another radar 102 are located on theright side of the car. The sensors 104 and 105 are connected to a firstnode 106, and the sensors 102 and 103 are connected to a second node107. The data from these sensors are transmitted by Ethernet to an ECUnode 108 for processing. To provide redundancy, a network of Ethernetcables is established by connecting the first node 106 and the secondnode 107 by a first Ethernet cable E1; connecting the first node 106 tothe ECU node 108 by a second Ethernet cable E2; and connecting thesecond node 107 to the ECU node by a third Ethernet cable E3. Thisconfiguration is an example of a ring network. Other networkconfigurations that facilitate data transmission redundancy areapplicable to the principles described herein, including a mesh networkand an interconnected network.

It will also be appreciated that there may be intermediate nodes (notshown) in the Ethernet network. For example, these intermediate nodesinclude one or more of: a communication node, a control node, anothersensor node, a functional node, an Ethernet switch box, and an Ethernetredundancy box. It will also be appreciated that, while the exampleshown includes two main nodes 106 and 107 for collecting sensor data,there may be additional nodes for collecting sensor data connected intothe same Ethernet network. An Ethernet network with more components canuse the principles described using the example shown in FIG. 1.

It will be appreciated that the examples shown herein in relate to acar, but these systems and processes can also be applied to other mobileplatforms. In other example embodiments, the systems and featuresdescribed herein apply to other types of mobile platforms like trucks,buses, microbuses, vans, utility vehicles, motorcycles, tractors,agriculture machinery, tanks, construction machinery (e.g. bulldozers,forklifts, ploughs, etc.), aircraft, marine crafts (e.g. boats,submarines, etc.), drones, spacecraft, satellites, robotic vehicles,mobile robots, material handling robots, and trains. The mobileplatforms, for example are electric vehicles. In another example, thevehicles are hybrid vehicles. In another example, the vehicles use acombustion engine as the primary motive power.

Turning to FIG. 2, another view is shown for the RENASP system,including the first node 106, the second node 107 and the ECU node 108.More generically, a first sensor S1 is connected to the first node 106and a second sensor S2 is connected to the second node 107. The exampleconfiguration shown in FIG. 2 can, for example, implement ahigh-availability seamless redundancy (HSR) Ethernet protocol. It willbe appreciated that different redundant protocols and configurations canbe used with the devices and systems described herein.

Although one sensor is shown connected to each of these nodes, it willbe appreciated that more than one sensor can interface with each givennode. Furthermore, whilst the example in FIG. 1 showed a camera and aradar connected to a same given node, other sensors can be used inaddition or in alternative, including and not limited to: temperaturesensors, position sensors, voltage sensors, current sensors, Hall effectsensors in a brushless direct current motor, lidar, sonar,magnetometers, and pressure sensors. In an example aspect, a suite ofsensors (e.g. a group of two or more different sensors) is connected toeach node 106 and 107.

In an example embodiment, the sensors S1 and S2 are of the same type andmeasure partially or fully overlapping areas or components in or aroundthe car. In the RENASP system, the first node 106 and the second node107 each locally compares and validates the data from S1 and S2. Forexample, each of the first node 106 and the second node 107 eachvalidate whether an object (e.g. a target) is identifiable in both setsof data from S1 and S2.

In an alternative example embodiment, the sensors S1 and S2 are ofdifferent types and measure partially or fully overlapping areas orcomponents in or around the car. In the RENASP system, the first node106 and the second node 107 each locally compares and validates the datafrom S1 and S2. For example, each of the first node and the second nodeeach validate whether an object (e.g. a target) is identifiable in bothsets of data from S1 and S2.

In an alternative example embodiment, the sensors S1 and S2 measureareas around the car that partially or fully overlap each other and theportions that overlap are called the overlapping area. The first nodeand the second node each locally compares data from S1 and S2 todetermine if all the multiple objects identified in the S1 data in theoverlapping area are also identified in the S2 data in the overlappingarea. If so, the data from S1 and S2 are validated. However, if one ofthe identified objects in one of the S1 data and the S2 data is notidentified in the other one of the S1 data and the S2 data, then the S1data and the S2 data are not validated by the first node or the secondnode, or both. For example, a first node identifies a child, a bush anda bicycle in the data from S1 in the overlapping area. The first nodeidentifies a child and a bush in the data from S2 in the overlappingarea. The identified objects do not match and therefore the data from S1and S2 do not validate each other. It will be appreciated that objectsidentified in an area outside the overlapping area is not used in thevalidation process.

In another alternative example embodiment, the sensors S1 and S2 are ofthe same type and measure different areas in or around the car. In theRENASP system, the first node 106 and the second node 107 each locallycompares data from S1 and S2 to determine whether action is required.

In an example aspect, the sensors S1 and S2 detect the same object orthe same environmental parameter (e.g. rain, cloud, snow, dust, terrain,vegetation, a crowd of people, fence, etc.) that spans the differentmeasured or sensed areas simultaneously.

In another example aspect, the sensors S1 and S2 detect the same objectmoves from one measured or sensed area (e.g. at an initial time) toanother measured or sensed area (e.g. at a subsequent time).

In another alternative example embodiment, the sensors S1 and S2 are ofdifferent types and measure different areas in and around the car. Inthe RENASP system, the first node 106 and the second node 107 eachlocally compares data from S1 and S2 to determine whether action isrequired.

The first node 106 includes a sensor interface 201, a processor module202, and a redundancy module 206. The sensor interface 201 receives datafrom the first sensor S1, and this sensor data is processed by processormodule 202 to generate an output. The output from the processor module202 is obtained by the redundancy module 206, and the redundancy module206 transmits the output to other nodes in the RENSAP. In this example,the redundancy module 206 transmits the output to the second node 107and the ECU node 108. In an example aspect, two instances of the outputare created by the first node 106, and one instance of the output istransmitted in a first direction via the data port 210 of the redundancymodule and a second instance of the output is transmitted in a seconddirection via the data port 212 of the redundancy module. In an exampleaspect, both instances of the output are transmitted at the same time indifferent direction via the ports 210 and 212.

In an example implementation, the first node 106 includes a housing thathouses the components 201, 202, 206 therein. In another example aspect,the components 201, 202, 206 are integrated onto one electronic board.

In an example aspect, the processor module 202 includes a centralprocessing unit (CPU) 203, a graphics processing unit (GPU) 204 andmemory 205. The GPU 204 is used to process data from S1 in parallelthreads. For example, the data is image data from a camera, positioningdata from radar, point cloud data from lidar, or a combination thereofwhere a number of sensors are attached to the sensor interface 201; thisdata is processed by the GPU. The CPU 203 coordinates the processes ofthe GPU 204, manages data storage in memory 205 and outputs resultingdata. In an example aspect, a neural network model is stored in memory205 and is executed by the GPU 204 to process the sensor data from S1.In another example aspect, a validation model is stored in memory 205and is executed at least by the CPU 203 to determine if data from S1 anddata from S2 (obtained by the second node 107) validate each other. Infurther example aspect, the validation model is executed by both the CPU203 and the GPU 204.

The CPU and GPU are an example. Other processing components can be used,including digital signal processor (DSP), a microcontroller, and a fieldprogrammable gate array (FPGA), or a combination thereof. The processingcomponents, for example, are selected to suit the type of sensor dataand the type of executable processes used to process the sensor data.

In an example implementation, the processing module 202 includes animage processing module and a comparator module that are integrated intoa processing chip, such as, but not limited to, a CPU. It is thereforeappreciated that, in other example embodiments, the processingarchitecture does not include a GPU.

In an example aspect, the redundancy module 206 includes an internalthree-port Ethernet switch. In particular, a first port 207 has a firstmedia access control (MAC) unit, a second port 210 has a second MACunit, and a third port 212 has a third MAC unit. The second port 210 andthe third port 212 are external interfacing ports connected to externalnodes, and first port 207 is a host port connected to the processormodule 202. Associated with each port is a memory buffer system. Forexample, the first port 207 has a buffer system 208; the second port 210has its own buffer system 211; and the third port 212 has its own buffersystem 213. A switcher module 209 transfers data between the differentports 207, 210, 212.

In a further example aspect, the redundancy module 206 also includes itsown memory 214 that stores data that has been transmitted and receivedat the redundancy module. This data is used to by the redundancy moduleto determine if received data has been duplicated (e.g. received before)and, if so, discards the duplicate data.

Other currently known and future known three-port Ethernet switches canbe incorporated into the redundancy module 206.

In the example shown, the third port 212 is connected to the firstEthernet cable E1 and the second port 210 is connected to the secondEthernet cable E2.

The second node 107 also includes a sensor interface 215, a processormodule 216, and a redundancy module 217. In an example aspect, thesecomponents 215, 216 and 217 have similar sub-components and operate in asimilar manner as the sensor interface 201, processor module 202 and theredundancy module 206 in the first node 105. It will be appreciated thatthe ports on the redundancy module 217 have their own MAC addresses.

The ECU node 108 includes a redundancy module 218 and an ECU 219.Although not shown, the ECU 219 is in data communication with one ormore subsystems of the vehicle.

In an example embodiment, using the system shown in FIGS. 2, S1 and S2are sensors that sense areas around the vehicle or in the vehicle. In anexample aspect, the sensed areas from S1 and S2 partially overlap orfully overlap each other. In another example aspect, the sensed areas S1and S2 are separated from each and do not overlap each other. The sensordata from S1 is obtained by the first node 106 at the sensor interface201. The processor module 202 obtains the data from the first sensor S1,processes the same, and outputs sensor data [A] that is time stamped.This sensor data [A] is transmitted to neighboring nodes, such as to thesecond node 107 via the Ethernet cable E1 and to the ECU 108 via theEthernet cable E2. In an example aspect, the sensor data [A] isduplicated, and one instance of the sensor data [A] is transmitted viaE1 and a second instance of the sensor data [A] is transmitted via E2 atthe same time.

The sensor data from S2 is obtained by the second node 107 at the sensorinterface 215. The processor module 216 obtains the data from the secondsensor S2, processes the same, and outputs sensor data [B] that is timestamped. This sensor data [B] is transmitted to neighboring nodes, suchas to the first node 106 via the Ethernet cable E1 and to the ECU 108via the Ethernet cable E3. In an example aspect, the sensor data [B] isduplicated, and one instance of the sensor data [B] is transmitted viaE1 and a second instance of the sensor data [B] is transmitted via E3 atthe same time.

In an example embodiment, the data [A] and [B] is multicast across thenetwork, where the first node 106, the second node 107 and the ECU node108 subscribe to a same multicast address. In an alternative embodiment,the data transmitted by each node is unicast to specific destination MACaddresses.

The redundancy module 206 receives the sensor data [B] from the secondnode 107 via E1. In addition, after the ECU node 108 receives [B] fromthe second node via E3, then the ECU node 108 transmits [B] to the firstnode 106 via E2. In other words, in a nominal condition, the first node106 receives an instance of the sensor data [B] from the second node 107via E1, and receives another instance of the same sensor data [B] fromthe ECU node 108 via E2. The later received copy of [B] is discarded bythe redundancy module 206. This provides redundancy and, as will belater discussed, facilitates zero packet data loss in the event of afailure or breakage.

After the first node 106 receives [B], the processor module 202 executesan analysis of both the received data [B] with the locally generated andstored data [A], and outputs analysis data [N1-analysis] to theneighboring nodes. In particular, the processor module 202 compares [A]and [B] to determine if the same attributes are detected and, if so,only one of the data sets [A] and [B] is transmitted to the ECU node 108along with the [N1-analysis]. For example, the data sets [A] and [B] areimages captured by camera sensors with overlapping fields of view, andthe processor module 202 executes machine vision processes to each ofthe data sets [A] and [B] to determine if a same object has beenidentified in both [A] and [B]. If so, the data sets [A] and [B] areconsidered validated. In another example, the data sets [A] and [B] areimages captured by camera sensors with non-overlapping fields of view,and the processor module 202 executes machine vision processes to eachof the data sets [A] and [B] to determine if a same object has beenidentified in both [A] and [B]. For example, the object has moved fromone camera field-of-view to another camera field-of-view, as predictedand expected based on the object's positions and direction of movement.If so, the data sets [A] and [B] are validated. It will be appreciatedthat different comparisons and processing computations of the data sets[A] and [B] can be executed to determine whether the data sets [A] and[B] are validated.

After validating the data sets [A] and [B], the processor module thenoutputs a [x], which includes one of [A] and [B] and data thatidentifies the object in the image. For example, the data thatidentifies the object in the image includes one or more of: a boundarybox around the object, an outline of the object, a size of the object, adistance between the object and the vehicle, a color of the object, anda name of the object (e.g. a fire hydrant, a person, a bicycle, a dog, acat, a bird, a car, a truck, a curb, a traffic sign, a post, a tree,etc.). The data [x] is then transmitted via the RENASP for processing bythe ECU node 108.

Conversely, the second node 107 receives [A] data. In a nominalcondition, one copy of [A] is received by the second node via E1 and asecond copy of [A] is received via the route E2 and E3. The laterreceived copy of [A] is discarded by the redundancy module 217. Afterthe second node 107 receives [A], the processor module 216 executes ananalysis of both the received data [A] with the locally generated andstored data [B], and outputs analysis data [N2-analysis] to theneighboring nodes. In particular, the processor module 216 compares [B]and [A] to determine if the same attributes are detected and, if so,only one of the data sets [A] and [B] is transmitted to the ECU node 108along with the [N2-analysis]. For example, the data sets [A] and [B] areimages captured by camera sensors with overlapping fields of view, andthe processor module 216 execute machine vision processes to each of thedata sets [A] and [B] to determine if a same object has been identifiedin both [A] and [B]. This same process is executed at the first node. Ifso, the data sets [A] and [B] are considered validated. The processormodule then outputs a [y], which includes one of [A] and [B] and datathat identifies the object in the image. The data [y] is thentransmitted via the RENASP for processing by the ECU node 108.

The ECU node 108 receives [x] or [y], or both, and then processes thesame in relation to other data (e.g. the speed and direction of themobile platform, steering inputs into the mobile platform, engineparameters, additional external sensory data, etc.) to determine one ormore outputs to control the mobile platform.

The above example in relation to object detection also applies todetecting environmental conditions. For example, the sensors inaddition, or in alternative, detect environmental conditions, such asrain, fog, clouds, snow, dust, terrain, vegetation, a crowd of people,fence, etc., and this is reflected in the sensor data [A] and [B]. Thenodes compare the data from the different data sets for validation. Forexample, a given node determines if both sensors S1 and S2 detect a snowcondition, or a fog condition, or the same terrain condition, or someother environmental condition.

It will be appreciated that the RENASP serves to reduce the processingload from the ECU 219, as the first node and the second node both takeon processing (e.g. data validation and object identification).Furthermore, the RENASP system reduces processing and transmission loadover the Ethernet cables by determining which of the redundant data canbe discarded after being validated. In another aspect, the RENASP systemprovides redundancy in processing, as the validation and objectidentification processes occur in both the first node 106 and the secondnode 107. For example, if the processing of two data sets [A] and [B] isunable to take place at the first node 106 within a certain time limit,the second node 107 still processes the data to output [y]. In otherwords, the processing executed locally at the first node and the secondnode increases the reliability and time responsiveness of the overallRENASP system even if the processing at one of these first and secondnodes is unable to execute an analysis of both data sets [A] and [B] inthe required time limit.

In another aspect, the RENASP system provides redundancy in datatransmission, so that failure or damage to any one of the Ethernetcables E1, E2 or E3 does not affect the processing of data in the RENASPsystem. For example, if E1 is damaged, then data is transmitted to thedestination node via the ECU node 108. The RENASP system uses theduplication of data and the simultaneous transmission of the duplicationof data in different directions in the Ethernet network to provides zeropacket data loss and zero-second delay in the event one of the Ethernetcables in the network fails, or if an intermediate node fails.

In another aspect, the validation process that is executed locally atthe first node 106 and the second node 107 is used by the RENASP toprovide confirmation of a nominal condition of the sensors S1 and S2 andthe processing of the data. For example, if the sensors S1 and S2 havehigh percentage of overlapping sensor areas, then whenever an object isdetected, the first node should validate the data [A] and [B] andidentify the object, and the second node should also validate the data[A] and [B] and identify the same object. However, if the first node,the second node, the ECU node, or a combination thereof, detect athreshold number of invalid conditions (e.g. where [A] and [B] aresignificantly different) or inconsistencies (e.g. the identified objectfor the first node and the identified object from the second node, usingthe same data, are different), or both, then the RENASP system is ableto identify an error condition related to the sensors, or to theprocessing, or both.

Turning to FIG. 3, another RENASP architecture is shown that uses aparallel redundancy protocol (PRP). In PRP, there are two or moreindependent active paths between two nodes, and data is independentlyand simultaneously sent along the two or more active paths. In anexample embodiment with two independent active paths, the recipient nodeuses only the first received data set and discards the second receiveddata set. If only one data set is received, then the recipient nodedetects that there is an error on the other path.

In the particular example shown in FIG. 3, the first node 106 isconnected to a first Ethernet switch 301 via Ethernet cable E1′ and asecond Ethernet switch 302 via E1″. The second node 107 is connected tothe first Ethernet switch 301 via Ethernet cable E2′ and the secondEthernet switch 302 via E2″. The ECU node 108 is connected to the firstEthernet switch 301 via Ethernet cable E3′ and a second Ethernet switch302 via E3″.

Using the PRP protocol, data can be transmitted from one node to anothernode at least along two independent paths. Even in the failure of one ofthe first and the second Ethernet switches 301 and 302, the remainingone of the Ethernet switches transmits data between the nodes. It willbe appreciated that the example operations described in FIG. 2 alsoapply to the RENASP configuration shown in FIG. 3.

Turning to FIG. 4, example processor executable instructions areprovided for operating the RENASP system in a nominal condition.

At block 401, the first node 106 obtains data from the first sensor S1and pre-processes the same to output [A], which includes a time stamp.This data [A] is stored in local memory 205 for a given time range fortrend and pattern analysis. In other words, local memory 205 stores atime series of sensor data [A].

At the same time at block 402, the second node 107 obtains data from thesecond sensor S2 and pre-processes the same to output [B], whichincludes a time stamp. Similar to the first node, the second node'sprocessor module 216 stores this data [B] in its local memory for agiven time range for trend and pattern analysis. It will be appreciatedthat the data [B] having different time stamps is stored in localmemory, which in aggregate form a time series of sensor data [B].

At blocks 403 and 404 respectively, the first node transmits a copy of[A] to neighbor nodes, and the second node transmits a copy of [B] toneighbor nodes.

Following block 403, the second node receives [A] from the first node(block 406). Optionally, if the ECU node 108 receives [A] from the firstnode, the ECU node locally stores [A] (block 407).

Following block 404, the first node receives [B] from the second node(block 405). Optionally, if the ECU node 108 receives [B] from thesecond node, the ECU node locally stores [B] (block 408).

After receiving the data [B] at the first node (405), the first nodeexecutes analysis of received [B] with [A] in relation to the time stampof [B] (409). In an example aspect, the first node receives a continuousand real-time stream of [A] data that is obtained from the first sensorS1. This data is stored in local memory and includes [A] data with timestamps at t=1 and t=2, for example. The received [B] data may not becontinuous and has a time stamp of t=2. At a later time (e.g. t=3), thefirst node receives the [B] data having the time stamp of t=2. The firstnode then processes the received [B] data (having time stamp t=2)against a series of [A] data that is before, during and after the timestamp t=2. In other words, data of [A] at t=1, data of [A] at t=2, anddata of [A] at t=3 is compared against the data [B] at t=2. Theprocessing of this data, for example, results in an analysis score whichdefines in whole, or in part, the data [N1-analysis]. For example, thisscore is used to indicate a particular situation.

In an example aspect, the analysis includes determine whether or not [B]and [A], for the same time period validate each other. Furthermore, theanalysis may include identifying an object or a condition (or both), in[A] and in [B], determining whether the object or the condition (orboth) is the same, and if so, outputting a validation of the identifiedobject or condition (or both). The analysis also includes, in anotherexample aspect, identifying attributes of the object or the condition(or both) for example, using pattern recognition processes.

At block 410, if the first node determines that both [A] and [B] detectthe same object or the same condition (or both), then the first nodetransmits an output [x] that includes one of [A] and [B] with theidentified object data or the identified condition (or both) for furtherprocessing by the ECU (block 411). The process continues at A1 in FIG.5a . On the other hand, if [A] and [B] do not validate each other asthey are different (e.g. do not detect the same object or the samecondition, or both), then an output [x′], which includes both [A] and[B], along with the analysis from the first node, is transmitted to theECU (block 412). Block 412 leads to B1.

In another example aspect, [x] includes a pointer to [A] or [B], and[N1-analysis] if the object or the condition (or both) are locallyvalidated by the first node. Conversely, [x′] includes pointers to both[A] [B], and [N1-analysis] if the object or condition(or both) is notlocally validated by the first node.

A similar process is excited at the second node. After block 406, block413 is executed by the processor module 216. The second node executesanalysis of received [A] with [B] in relation to the time stamp of [A].The processing of this data, for example, results in an analysis scorewhich defines in whole, or in part, the data [N2-analysis]. For example,this score is used to indicate a particular situation.

In an example aspect, the analysis at the second node includes determinewhether or not [B] and [A], for the same time period validate eachother. Furthermore, the analysis may include identifying an object or acondition (or both) in [A] and in [B], determining whether the object orthe condition (or both) is the same, and if so, outputting a validationof the identified object or the identified condition (or both). Theanalysis also includes, in another example aspect, identifyingattributes of the object or the condition (or both), for example, usingpattern recognition processes.

At block 414, if the second node determines that both [A] and [B] detectthe same object or the same condition (or both), then the second nodetransmits an output [y] that includes one of [A] and [B] with theidentified object data or the identified condition data (or both) forfurther processing by the ECU (block 416). The process continues at A2in FIG. 5 a. On the other hand, if [A] and [B] do not validate eachother as they are different (e.g. do not detect the same object or samecondition, or both), then an output [y′], which includes both [A] and[B], along with the analysis from the first node, is transmitted to theECU (block 415). Block 415 leads to B2.

In another example aspect, [y] includes a pointer to [A] or [B], and[N2-analysis] if the object or condition (or both) is locally validatedby the second node. In another example aspect, [y′] includes pointers toboth [A] [B], and [N2-analysis], if the object or condition (or both) isnot locally validated by the second node.

Turning to FIG. 5a , blocks A1 and A2 lead to the ECU node 108 receiving[x] or [y] or both. In particular, if duplicate data is received at theECU node, then the second received duplicate data is discarded (block501). The ECU 219 processes the received data in relation to the mobileplatform's current state and control parameters and determines if actionis required (block 502). If action is required, then ECU 219 executes orinitiates the execution of the action (block 503), such as transmittingan action command to control one or more subsystems of the mobileplatform.

Turning to FIG. 5b , blocks B1 and B2 lead to the ECU node 108 receiving[x′] or [y′] or both. In particular, if duplicate data is received atthe ECU node, then the second received duplicate data is discarded(block 504). The ECU 219 processes data sets from both sensors S1 and S2in relation to the mobile platform's current state to determine thetarget and, after, determines if action is required (block 505). Ifaction is required, then ECU 219 executes or initiates the execution ofthe action (block 506), such as transmitting an action command tocontrol one or more subsystems of the mobile platform.

Turning to FIG. 6, an example embodiment shows the data flow when allthe Ethernet cables are in a nominal condition. At an earlier timeperiod, one copy of [A] travels from the first node to the second nodealong E1, while another copy of [A] travels along E2 and E3 to reach thesecond node. When the second copy of [A] passes through the ECU node108, in an example embodiment, the ECU node locally stores [A] forimmediate processing or future processing, or both. Conversely, copiesof [B] also travel through the Ethernet network and are processed in asimilar way as [A].

At a later time period, the comparison data output from each node (e.g.[x] or [x′], and [y] or [y′]) are also transmitted throughout theEthernet network in a redundant manner. In an example embodiment, theoutput [x] does not include a full copy of [A] or [B], but insteadincludes a pointer to [A] or [B] as the full copy is already stored onthe ECU node 108. Similarly, output [x′] does not include full copies of[A] and [B], but instead includes pointers to [A] and [B] as the fullcopies are already stored on the ECU node 108. For example, the firstnode transmits a copy of [x] or [x′] to the ECU node 108 via E2, as wellas transmits another copy of [x] or [x′] via E1 and E3.

FIG. 7 shows an example embodiment of the data flow when the firstEthernet cable E1 is damaged or compromised. Data flows through the ECUnode 108 to maintain data connectivity. For example, data from thesecond node 107 flows along E3, through the ECU node 108, and along E2to reach the first node 106. The processing functionality is maintained.

FIG. 8 shows an example embodiment of the data flow when the secondEthernet cable is damaged or compromised. Data flows through the secondnode 107 to maintain data connectivity. For example, data from the firstnode 106 flows along E1, through the second node 107, and along E3 toreach the ECU node 108. The processing functionality is maintained.

FIG. 9 shows an example embodiment of the data flow when the thirdEthernet cable is damaged or compromised. Data flows through the firstnode 106 to maintain data connectivity. For example, data from thesecond node 107 flows along E1, through the first node 106, and along E2to reach the ECU node 108. The processing functionality is maintained.

FIG. 10 shows an example embodiment when the second node is compromised(e.g. due to mechanical, electrical or software failure, or acombination thereof). In other words, data from the sensor S2 is neitherprocessed nor transmitted. In an example embodiment, the RENASP systemis still able to function as the second node is a redundant node to thefirst node. At an earlier time period, the first node pre-processes thedata [A], such as to identify attributes of one or more objects detectedby the sensor S1; this analysis of the data [A] is herein called [z]. Ata later time period, the data [z] is sent to the ECU node, and the ECUnode processes [z] in combination with other current state parameters ofthe vehicle, in order to output one or more action commands to controlone or more subsystems of the vehicle.

In an example aspect of each of FIGS. 7, 8, 9 and 10, there is no datapacket loss when the failure occurs. In another example aspect of eachof FIGS. 7, 8, 9 and 10, there is no delay (e.g. zero second delay) whenthe failure occurs.

FIG. 11 shows another redundant Ethernet network that is integrated intoa mobile platform. A first network ring R1 includes multiple sensorsnodes 106, 107, 1101 and the ECU node 108 that are arranged in a ringconfiguration. Ethernet cables E connect the nodes together. The sensorsnodes are each respectively in data communication with one or moresensors. For example, the sensor node 1101 is connected to a sensorsystem Sn that includes one or more sensors. A second network rink R2 isconnected to the same ECU node 108 and includes other sensor nodes 106′,107′ and 1101′. These sensor nodes are respectively in datacommunication with sensor systems S1′, S2′ and Sn′.

In an example aspect, the sensors that are part of the first ring R1detect or measure a first area in or around the mobile platform. Thesensors that are part of the second ring R2 detect or measure a secondarea in or around the mobile platform. For example, the first area is aright side of a vehicle, and the second area is the left side of thevehicle. In another example, the first area is a front side of avehicle, and the second area is a rear side of the vehicle.

Below are general example embodiments and example aspects.

In a general example embodiment, a redundant Ethernet network within amobile platform is provided, and it comprises: a first node connected toa first sensor that monitors a first area in or around the mobileplatform; a second node connected to a second sensor that monitors asecond area in or around the mobile platform; the first node, the secondnode and an ECU node connected to each other via Ethernet cables; thefirst node transmitting data [A] obtained by the first sensor to thesecond node and the ECU node, and the second node transmitting data [B]obtained by the second sensor to the first node and the ECU node; afterthe first node receives the data [B], the first node executing a firstanalysis to determine if the data [B] and the data [A] validate eachother, and transmitting a first analysis result to the control node; andafter the second node receives the data [A], the second node executing asecond analysis to determine if the data [B] and the data [A] validateeach other, and transmitting a second analysis result to the ECU node.

In an example aspect the first node comprises a first data port and asecond data port connected to the redundant Ethernet network, and thefirst node duplicates the data [A] and transmits at a same time a firstinstance of the data [A] and a second instance of the data [A]respectively via the first data port and the second data port.

In an example aspect, the second node comprises a first data port and asecond data port connected to the redundant Ethernet network, and thesecond node duplicates the data [B] and transmits at a same time a firstinstance of the data [B] and a second instance of the data [B]respectively via the first data port and the second data port.

In an example aspect, each of the first node, the second node and theECU node comprise two data ports, and the first node, the second nodeand the ECU node are arranged in a ring network configuration.

In an example aspect, the first area and the second area at leastpartially overlap.

In an example aspect, the first area and the second area arenonoverlapping.

In an example aspect, after the first node determines the data [A] andthe data [B] validate each other, the first node transmits only one ofthe data [A] and the data [B], along with the first analysis result, tothe ECU node.

In an example aspect, after the second node determines the data [A] andthe data [B] validate each other, the second node transmits only one ofthe data [A] and the data [B], along with the second analysis result, tothe ECU node.

In an example aspect, the first analysis further comprises identifyingan object in the data [A] and the same object in the data [B], and thenidentifying attributes of the object that are transmitted in the firstanalysis result to the ECU node.

In an example aspect, the identifying attributes include one or more of:a boundary box around the object, an outline of the object, a size ofthe object, a distance between the object and the mobile platform, acolor of the object, and a name of the object.

In an example aspect, the second analysis further comprises identifyingan object in the data [A] and the same object in the data [B], and thenidentifying attributes of the object that are transmitted in the secondanalysis result to the ECU node.

In an example aspect, the identifying attributes include one or more of:a boundary box around the object, an outline of the object, a size ofthe object, a distance between the object and the mobile platform, acolor of the object, and a name of the object.

In an example aspect, after a threshold number of times that the firstnode determines instances of data [A] and instances of data [B]invalidate each other, the first node transmitting an alert regarding apotential error in at least one of the first sensor and the secondsensor.

In an example aspect, after a threshold number of times that the firstnode determines instances of data [A] and instances of data [B]invalidate each other, the first node transmitting an alert regarding apotential error in at least one of processing at the first node andprocessing at the second node.

In an example aspect, after a threshold number of times that the secondnode determines instances of data [A] and instances of data [B]invalidate each other, the second node transmitting an alert regarding apotential error in at least one of the first sensor and the secondsensor.

In an example aspect, after a threshold number of times that the ECUnode determines instances of data [A] and instances of data [B]invalidate each other, the ECU node transmitting an alert regarding apotential error in at least one of processing at the first node andprocessing at the second node.

In an example aspect, a first Ethernet cable is connected between thefirst node and the second node, a second Ethernet cable is connectedbetween the first node and the ECU node, and a third Ethernet cableconnected between the second node and the ECU node.

In an example aspect, the first node comprises a sensor interface tointeract with the first sensor, a processor module comprising aprocessor and memory, and a redundancy module comprising two externalinterfacing Ethernet ports and a host Ethernet port that is connected tothe processor module.

In an example aspect, the first node comprises: a sensor interface tointeract with the first sensor; a processor module comprising an imageprocessing module, a comparator module and memory; and a redundancymodule comprising two external interfacing Ethernet ports and a hostEthernet port that is connected to the processor module; wherein theimage processing module and the comparator module process the data [A]and the data [B] to identify an object in each of the data [A] and thedata [B].

In an example aspect, the second node comprises a sensor interface tointeract with the second sensor, a processor module comprising aprocessor and memory, and a redundancy module comprising two externalinterfacing Ethernet ports and a host port that is connected to theprocessor module.

In an example aspect, the second node comprises: a sensor interface tointeract with the second sensor; a processor module comprising an imageprocessing module, a comparator module and memory; and a redundancymodule comprising two external interfacing Ethernet ports and a hostEthernet port that is connected to the processor module; wherein theimage processing module and the comparator module process the data [A]and the data [B] to identify an object in each of the data [A] and thedata [B].

In an example aspect, the first node is connected to a first set ofsensors, the first set of sensors comprising the first sensor; andwherein the second node is connected to a second set of sensors, thesecond of sensors comprising the second sensor.

In an example aspect, the first set of sensors comprises a first cameraand a first RADAR, and the second set of sensors comprise a secondcamera and a second RADAR.

In an example aspect, the first area and the second area together definean overlapping area, and wherein the first analysis further comprisesidentifying multiples objects in the data [A] and the same multipleobjects in the data [B] in the overlapping area, and then identifyingattributes of the multiple objects that are transmitted in the firstanalysis result to the ECU node.

In an example aspect, if all of the same multiple objects are notidentified in the data [B], then the first node invalidates the data [A]and the data [B].

In an example aspect, the first area and the second area together definean overlapping area, and wherein the second analysis further comprisesidentifying multiples objects in the data [A] and the same multipleobjects in the data [B] in the overlapping area, and then identifyingattributes of the multiple objects that are transmitted in the secondanalysis result to the ECU node.

In an example aspect, if all of the same multiple objects are notidentified in the data [B], then the second node invalidates the data[A] and the data [B].

In an example aspect, the ECU node obtains at least one of the firstanalysis result and the second analysis result, and the ECU nodeprocesses the at least one of the first analysis result and the secondanalysis result in combination with one or more current state parametersof the mobile platform to output an action command that controls one ormore subsystems of the mobile platform.

In an example aspect, the one or more subsystems of the mobile platformcomprise a steering subsystem, a braking subsystem, an engine subsystem,and an alert subsystem.

In an example aspect, the redundant Ethernet network further comprisesintermediate nodes that transmit data between two or more of the firstnode, the second node and the ECU node.

In another general example embodiment, a system of sensor nodes on amobile platform is provided, and the system comprises: a first sensornode connected to a first sensor that monitors a first area in or aroundthe mobile platform. The first sensor node comprises: a first sensorinterface to interact with the first sensor, a first processor module,and a first redundancy module comprising a first pair of externalinterfacing Ethernet ports and a first host port that is connected tothe first processor module. The system further comprises a second sensornode connected to a second sensor that monitors a second area in oraround the mobile platform, and the second sensor node comprises: asecond sensor interface to interact with the second sensor, a secondprocessor module, and a second redundancy module comprising a secondpair of external interfacing Ethernet ports and a second host port thatis connected to the second processor module. Furthermore, the firstsensor node, the second sensor node and an electronic control unit (ECU)node are in data communication with each other over a redundant Ethernetnetwork that utilize the first pair of external interfacing ports andthe second pair of external interfacing ports.

In an example aspect, data to be transmitted by the first sensor node isduplicated and transmitted in opposite directions in the redundantEthernet network via the first pair of external interfacing Ethernetports at a same time.

In an example aspect, data to be transmitted by the second sensor nodeis duplicated and transmitted in opposite directions in the redundantEthernet network via the second pair of external interfacing Ethernetports at a same time.

In an example aspect, the first sensor node, the second sensor node andthe ECU node are arranged in a ring network configuration.

In an example aspect, the first sensor node comprises a first imageprocessing module, and the second sensor node comprises a second imageprocessing module.

In an example aspect, the first image processing module is a firstgraphics processing unit and the second image processing module is asecond graphics processing unit.

In an example aspect, the first sensor node comprises a first comparatormodule, and the second sensor node comprises a second comparator module.

In an example aspect, in a failure in the redundant Ethernet network,data transmitted from the first sensor node arrives at the second nodeand at the ECU node with zero data packet loss.

In an example aspect, in a failure in the redundant Ethernet network,data transmitted from the first sensor node arrives at the second nodeand at the ECU node with zero second delay.

In an example aspect, the first node is connected to a first set ofsensors, the first set of sensors comprising the first sensor; andwherein the second node is connected to a second set of sensors, thesecond of sensors comprising the second sensor.

In an example aspect, the first set of sensors comprises a first cameraand a first RADAR, and the second set of sensors comprise a secondcamera and a second RADAR.

In an example aspect, the first processor module compares data [A]locally obtained by the first sensor with received data [B] obtained bythe second sensor to determine if the data [A] and the data [B] arevalidated.

In an example aspect, the second processor module compares data [B]locally obtained by the second sensor with data [A] that has beenreceived to determine if the data [A] and the data [B] are validated.

In another general example embodiment, a mobile platform is provided andit comprises: a first sensor system connected to a first node and asecond sensor system connected to a second node; and an Ethernet networkconnecting an electronic control unit (ECU) node, the first node and thesecond node in a ring network configuration. The first node transmitsdata [A] obtained by the first sensor system to the second node and theECU, and the second node transmits data [B] obtained by the secondsensor system to the first node and the ECU. After the first nodereceives the data [B], the first node executes a first analysis of thedata [B] and the data [A], and transmits a first analysis result to theECU. After the second node receives the data [A], the second nodeexecutes a second analysis of the data [B] and the data [A], andtransmits a second analysis result to the ECU.

In an example aspect, the first sensor system and the second sensorsystem each comprise a camera and a RADAR.

In an example aspect, the first sensor system and the second sensorsystem each comprise multiple sensors.

In an example aspect, the first sensor system and the second sensorsystem each detect an environmental condition.

In an example aspect, the first node duplicates the data [A] andsimultaneously transmits a first instance of the data [A] in a firstdirection in the ring network configuration, and a second instance ofthe data [A] in a second direction in the ring network configuration.

In an example aspect, the second node duplicates the data [B] andsimultaneously transmits a first instance of the data [B] in a firstdirection in the ring network configuration, and a second instance ofthe data [B] in a second direction in the ring network configuration.

In another general example embodiment, a redundant Ethernet networkwithin a vehicle, is provided. It includes: a first node connected to afirst sensor that monitors a first area in or around the vehicle; and asecond node connected to a second sensor that monitors a second area inor around the vehicle, wherein the first area and the second area atleast partially overlap. The first node, the second node and an ECU nodeconnected to each other via Ethernet cables. The first node transmitsdata [A] obtained by the first sensor to the second node and the ECUnode, and the second node transmits data [B] obtained by the secondsensor to the first node and the ECU node. After the first node receivesthe data [B], the first node executes a first analysis to determine ifthe data [B] and the data [A] validate each other, and transmits a firstanalysis result to the ECU node. After the second node receives the data[A], the second node executes a second analysis to determine if the data[B] and the data [A] validate each other, and transmits a secondanalysis result to the ECU node.

In an example aspect, the first node includes: a sensor interface tointeract with the first sensor; a processor module including an imageprocessing module, a comparator module and memory; and a redundancymodule including two external interfacing Ethernet ports and a hostEthernet port that is connected to the processor module; wherein theimage processing module and the comparator module process the data [A]and the data [B] to identify an object in each of the data [A] and thedata [B]. In an example aspect, the image processor module and thecomparator module are respectively a GPU and a CPU. In another exampleaspect, the image processor module and the comparator module areintegrated into one physical processing chip.

In an example aspect, the second node includes: a sensor interface tointeract with the second sensor; a processor module including an imageprocessing module, a comparator module and memory; and a redundancymodule including two external interfacing Ethernet ports and a hostEthernet port that is connected to the processor module; wherein theimage processing module and the comparator module process the data [A]and the data [B] to identify an object in each of the data [A] and thedata [B]. In an example aspect, the image processor module and thecomparator module are respectively a GPU and a CPU. In another exampleaspect, the image processor module and the comparator module areintegrated into one physical processing chip.

In another general example embodiment, a car is provided that includes:a first camera connected to a first node and a second camera connectedto a second node; a first Ethernet cable connected between the firstnode and the second node, a second Ethernet cable connected between thefirst node and an ECU, and a third Ethernet cable connected between thesecond node and the ECU; the first node transmitting data [A] obtainedby the first camera to the second node and the ECU, and the second nodetransmitting data [B] obtained by the second camera to the first nodeand the ECU; after the first node receives the data [B], the first nodeexecuting a first analysis of the data [B] and the data [A], andtransmitting a first analysis result to the ECU via the second Ethernetcable; and after the second node receives the data [A], the second nodeexecuting a second analysis of the data [B] and the data [A], andtransmitting a second analysis result to the ECU via the third Ethernetcable.

It will be appreciated that any module or component exemplified hereinthat executes instructions may include or otherwise have access tocomputer readable media such as storage media, computer storage media,or data storage devices (removable and/or non-removable) such as, forexample, magnetic disks, optical disks, or tape. Computer storage mediamay include volatile and non-volatile, removable and non-removable mediaimplemented in any method or technology for storage of information, suchas computer readable instructions, data structures, program modules, orother data. Examples of computer storage media include RAM, EEPROM,flash memory or other memory technology, optical storage, magnetic diskstorage or other magnetic storage devices, or any other medium which canbe used to store the desired information and which can be accessed by anapplication, module, or both. Any such computer storage media may bepart of the servers or computing devices or nodes, or accessible orconnectable thereto. Any application or module herein described may beimplemented using computer readable/executable instructions that may bestored or otherwise held by such computer readable media.

It will be appreciated that different features of the exampleembodiments of the system and methods, as described herein, may becombined with each other in different ways. In other words, differentdevices, modules, operations, functionality and components may be usedtogether according to other example embodiments, although notspecifically stated.

The steps or operations in the flow diagrams described herein are justfor example. There may be many variations to these steps or operationsaccording to the principles described herein. For instance, the stepsmay be performed in a differing order, or steps may be added, deleted,or modified.

It will also be appreciated that the examples and corresponding systemdiagrams used herein are for illustrative purposes only. Differentconfigurations and terminology can be used without departing from theprinciples expressed herein. For instance, components and modules can beadded, deleted, modified, or arranged with differing connections withoutdeparting from these principles.

Although the above has been described with reference to certain specificembodiments, various modifications thereof will be apparent to thoseskilled in the art without departing from the scope of the claimsappended hereto.

1. A redundant Ethernet network within a mobile platform, comprising: afirst node connected to a first sensor that monitors a first area in oraround the mobile platform; a second node connected to a second sensorthat monitors a second area in or around the mobile platform; the firstnode, the second node and an ECU node connected to each other viaEthernet cables; the first node transmitting data [A] obtained by thefirst sensor to the second node and the ECU node, and the second nodetransmitting data [B] obtained by the second sensor to the first nodeand the ECU node; after the first node receives the data [B], the firstnode executing a first analysis to determine if the data [B] and thedata [A] validate each other, and transmitting a first analysis resultto the ECU node; and after the second node receives the data [A], thesecond node executing a second analysis to determine if the data [B] andthe data [A] validate each other, and transmitting a second analysisresult to the ECU node.
 2. The redundant Ethernet network of claim 1wherein the first node comprises a first data port and a second dataport connected to the redundant Ethernet network, and the first nodeduplicates the data [A] and transmits at a same time a first instance ofthe data [A] and a second instance of the data [A] respectively via thefirst data port and the second data port.
 3. The redundant Ethernetnetwork of claim 1 wherein the second node comprises a first data portand a second data port connected to the redundant Ethernet network, andthe second node duplicates the data [B] and transmits at a same time afirst instance of the data [B] and a second instance of the data [B]respectively via the first data port and the second data port.
 4. Theredundant Ethernet network of claim 1 wherein each of the first node,the second node and the ECU node comprise two data ports, and the firstnode, the second node and the ECU node are arranged in a ring networkconfiguration.
 5. The redundant Ethernet network of claim 1 wherein thefirst area and the second area at least partially overlap.
 6. Theredundant Ethernet network of claim 1 wherein the first area and thesecond area are nonoverlapping.
 7. The redundant Ethernet network ofclaim 1 wherein, after the first node determines the data [A] and thedata [B] validate each other, transmitting only one of the data [A] andthe data [B], along with the first analysis result, to the ECU node. 8.The redundant Ethernet network of claim 1 wherein, after the second nodedetermines the data [A] and the data [B] validate each other,transmitting only one of the data [A] and the data [B], along with thesecond analysis result, to the ECU node.
 9. The redundant Ethernetnetwork of claim 1 wherein, the first analysis further comprisesidentifying an object in the data [A] and the same object in the data[B], and then identifying attributes of the object that are transmittedin the first analysis result to the ECU node.
 10. The redundant Ethernetnetwork of claim 9 wherein the identifying attributes include one ormore of: a boundary box around the object, an outline of the object, asize of the object, a distance between the object and the vehicle, acolor of the object, and a name of the object.
 11. The redundantEthernet network of claim 1 wherein, the second analysis furthercomprises identifying an object in the data [A] and the same object inthe data [B], and then identifying attributes of the object that aretransmitted in the second analysis result to the ECU node.
 12. Theredundant Ethernet network of claim 11 wherein the identifyingattributes include one or more of: a boundary box around the object, anoutline of the object, a size of the object, a distance between theobject and the vehicle, a color of the object, and a name of the object.13. The redundant Ethernet network of claim 1 wherein, after a thresholdnumber of times that the first node determines instances of data [A] andinstances of data [B] invalidate each other, the first node transmittingan alert regarding a potential error in at least one of the first sensorand the second sensor.
 14. The redundant Ethernet network of claim 1wherein, after a threshold number of times that the first nodedetermines instances of data [A] and instances of data [B] invalidateeach other, the first node transmitting an alert regarding a potentialerror in at least one of processing at the first node and processing atthe second node.
 15. The redundant Ethernet network of claim 1 wherein,after a threshold number of times that the second node determinesinstances of data [A] and instances of data [B] invalidate each other,the second node transmitting an alert regarding a potential error in atleast one of the first sensor and the second sensor.
 16. The redundantEthernet network of claim 1 wherein, after a threshold number of timesthat the ECU node determines instances of data [A] and instances of data[B] invalidate each other, the ECU node transmitting an alert regardinga potential error in at least one of processing at the first node andprocessing at the second node.
 17. The redundant Ethernet network ofclaim 1 wherein a first Ethernet cable is connected between the firstnode and the second node, a second Ethernet cable is connected betweenthe first node and the ECU node, and a third Ethernet cable connectedbetween the second node and the ECU node.
 18. The redundant Ethernetnetwork of claim 1 wherein the first node comprises a sensor interfaceto interact with the first sensor, a processor module comprising aprocessor and memory, and a redundancy module comprising two externalinterfacing Ethernet ports and a host Ethernet port that is connected tothe processor module.
 19. The redundant Ethernet network of claim 1wherein the first node comprises: a sensor interface to interact withthe first sensor; a processor module comprising an image processingmodule, a comparator module and memory; and a redundancy modulecomprising two external interfacing Ethernet ports and a host Ethernetport that is connected to the processor module; wherein the imageprocessing module and the comparator module process the data [A] and thedata [B] to identify an object in each of the data [A] and the data [B].20. The redundant Ethernet network of claim 1 wherein the second nodecomprises a sensor interface to interact with the second sensor, aprocessor module comprising a processor and memory, and a redundancymodule comprising two external interfacing Ethernet ports and a hostport that is connected to the processor module.
 21. The redundantEthernet network of claim 1 wherein the second node comprises: a sensorinterface to interact with the second sensor; a processor modulecomprising an image processing module, a comparator module and memory;and a redundancy module comprising two external interfacing Ethernetports and a host Ethernet port that is connected to the processormodule; wherein the image processing module and the comparator moduleprocess the data [A] and the data [B] to identify an object in each ofthe data [A] and the data [B].
 22. The redundant Ethernet network ofclaim 1 wherein the first node is connected to a first set of sensors,the first set of sensors comprising the first sensor; and wherein thesecond node is connected to a second set of sensors, the second set ofsensors comprising the second sensor.
 23. The redundant Ethernet networkof claim 22 wherein the first set of sensors comprises a first cameraand a first RADAR, and the second set of sensors comprise a secondcamera and a second RADAR.
 24. The redundant Ethernet network of claim 1wherein the first area and the second area together define anoverlapping area, and wherein the first analysis further comprisesidentifying multiples objects in the data [A] and the same multipleobjects in the data [B] in the overlapping area, and then identifyingattributes of the multiple objects that are transmitted in the firstanalysis result to the ECU node.
 25. The redundant Ethernet network ofclaim 24 wherein if all of the same multiple objects are not identifiedin the data [B], then the first node invalidates the data [A] and thedata [B].
 26. The redundant Ethernet network of claim 1 wherein thefirst area and the second area together define an overlapping area, andwherein the second analysis further comprises identifying multiplesobjects in the data [A] and the same multiple objects in the data [B] inthe overlapping area, and then identifying attributes of the multipleobjects that are transmitted in the second analysis result to the ECUnode.
 27. The redundant Ethernet network of claim 26 wherein if all ofthe same multiple objects are not identified in the data [B], then thesecond node invalidates the data [A] and the data [B].
 28. The redundantEthernet network of claim 1 wherein the ECU node obtains at least one ofthe first analysis result and the second analysis result, and the ECUnode processes the at least one of the first analysis result and thesecond analysis result in combination with one or more current stateparameters of the mobile platform to output an action command thatcontrols one or more subsystems of the mobile platform.
 29. Theredundant Ethernet network of claim 28 wherein the one or moresubsystems of the mobile platform comprise a steering subsystem, abraking subsystem, a motor subsystem, and an alert subsystem.
 30. Theredundant Ethernet network of claim 1 further comprising intermediatenodes that transmit data between two or more of the first node, thesecond node and the ECU node. 31-43. (canceled)
 44. A mobile platformcomprising: a first sensor system connected to a first node and a secondsensor system connected to a second node; an Ethernet network connectingan electronic control unit (ECU) node, the first node and the secondnode in a ring network configuration; the first node transmitting data[A] obtained by the first sensor system to the second node and the ECU,and the second node transmitting data [B] obtained by the second sensorsystem to the first node and the ECU; after the first node receives thedata [B], the first node executing a first analysis of the data [B] andthe data [A], and transmitting a first analysis result to the ECU; andafter the second node receives the data [A], the second node executing asecond analysis of the data [B] and the data [A], and transmitting asecond analysis result to the ECU.
 45. The mobile platform of claim 44wherein the first sensor system and the second sensor system eachcomprise a camera and a RADAR.
 46. The mobile platform of claim 44wherein the first sensor system and the second sensor system eachcomprise multiple sensors.
 47. The mobile platform of claim 44 whereinthe first sensor system and the second sensor system each detect anenvironmental condition.
 48. The mobile platform of claim 44 wherein thefirst node duplicates the data [A] and simultaneously transmits a firstinstance of the data [A] in a first direction in the ring networkconfiguration, and a second instance of the data [A] in a seconddirection in the ring network configuration.
 49. The mobile platform ofclaim 44 wherein the second node duplicates the data [B] andsimultaneously transmits a first instance of the data [B] in a firstdirection in the ring network configuration, and a second instance ofthe data [B] in a second direction in the ring network configuration.